InvChi2CostFunction Struct Reference

Inheritance diagram for InvChi2CostFunction:

Collaboration diagram for InvChi2CostFunction:

Public Member Functions
virtual double	operator() (HyperGraph::Edge *edge, HyperGraph::Vertex *from, HyperGraph::Vertex *to)
Public Member Functions inherited from g2o::HyperDijkstra::CostFunction
virtual	~CostFunction ()

Detailed Description

Definition at line 40 of file g2o-unfold.cpp.

Member Function Documentation

double InvChi2CostFunction::operator() ( HyperGraph::Edge *  edge, HyperGraph::Vertex *  from, HyperGraph::Vertex *  to  )

virtual

Implements g2o::HyperDijkstra::CostFunction.

Definition at line 44 of file g2o-unfold.cpp.

References g2o::OptimizableGraph::Edge::chi2(), g2o::OptimizableGraph::Edge::computeError(), and g2o::OptimizableGraph::Edge::robustKernel().

                                                          {
  
  OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(edge);
e->computeError();
if(e->robustKernel())
  e->robustifyError();
return 1.0/(1e-6 + e->chi2());
}

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The documentation for this struct was generated from the following file:

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/g2o_unfold/g2o-unfold.cpp